• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.585-589
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• 2016

Recently, the robotic assist system for cardiovascular intervention gets continuously growing interest. The robotic cardiovascular intervention systems are largely two folds, systems for cardiac ablation procedure assist and systems for vascular intervention assist. For the systems, the clinician controls the catheter inserted through blood vessel to the heart via a master console or master manipulator. Most of the current master manipulators have structure of joystick-like pivoting 2 degree of freedom (DOF) handle in the core, which is used in parallel with other sliding switches and input devices. It however is desirable to have customized and optimized design manipulator that can provide clinician with intuitive control of the catheter motion fully utilizing the advantage of the use of robotic structure. A 6 DOF kinematic mechanism that can capture the motion control intention of the clinician in translational 3 DOF and rotational 3 DOF is proposed in this paper. Also, a master-slave motion relationship specially designed for the cardiac catheter manipulation motion is proposed and implemented in an experimental prototype. Design revision for implementation of more efficient motion and experiment in combination with an experimental slave robot system for catheter manipulation are underway.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.11
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• pp.1741-1747
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• 2010

This work presents a study on the design of an economic service robot hand for tele-presence manipulators. The conceptual design of new robot hand is derived from biomimetics approach. Guided by the analysis of human arm' musculoskeletal structure, the fingers are actuated by cables and actuators in the forearm. High tension in the cables is achieved by screw-nut mechanism driven by DC motors. A set of combination springs is incorporated in each of the screw-nut mechanism for easy control of gripping force. The first prototype revealed difficulties with finger control and coupling problem between gripping force and wrist movement. The solutions to these problems have been derived from the contradiction analysis of TRIZ. The second design has been verified by tests on various objects with different weight and shape for full range of wrist motion.

• The Journal of Information Systems
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• v.18 no.4
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• pp.41-57
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• 2009

Although financial information is a great influence upon determining of the group which use them, detection of management fraud and earning manipulation is a difficult task using normal audit procedures and corporate credit evaluation processes, due to the shortage of knowledge concerning the characteristics of management fraud, and the limitation of time and cost. These limitations suggest the need of systemic process for !he effective risk of earning manipulation for credit evaluators, external auditors, financial analysts, and regulators. Moot researches on management fraud have examined how various characteristics of the company's management features affect the occurrence of corporate fraud. This study examines financial characteristics of companies engaged in fraudulent financial reporting and suggests a model and system for detecting GAAP violations to improve reliability of accounting information and transparency of their management. Since the detection of management fraud has limited proven theory, this study used the detecting method of outlier(upper, and lower bound) financial ratio, as a real-field application. The strength of outlier detecting method is its use of easiness and understandability. In the suggested model, 14 variables of the 7 useful variable categories among the 76 financial ratio variables are examined through the distribution analysis as possible indicators of fraudulent financial statements accounts. The developed model from these variables show a 80.82% of hit ratio for the holdout sample. This model was developed as a financial outlier detecting system for a financial institution. External auditors, financial analysts, regulators, and other users of financial statements might use this model to pre-screen potential earnings manipulators in the credit evaluation system. Especially, this model will be helpful for the loan evaluators of financial institutes to decide more objective and effective credit ratings and to improve the quality of financial statements.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.3
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• pp.507-514
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• 2022

Mobile manipulators are getting lime light in the field of home automation due to their mobility and manipulation capabilities. In this paper, we developed a small size manipulator system that can be mounted on a mobile robot as a preliminary study to develop a mobile manipulator. The developed manipulator has four degree-of-freedom. At the end-effector of manipulator, there are a camera and a gripper to recognize and manipulate the object. One of four degree-of-freedom is linear motion in vertical direction for better interaction with human hands which are located higher than the mobile manipulator. The developed manipulator was designed to dispose the four actuators close to the base of the manipulator to reduce rotational inertia of the manipulator, which improves stability of manipulation and reduces the risk of rollover. The developed manipulator repeatedly performed a pick and place task and successfully manipulate the object within the workspace of manipulator.

• KIPS Transactions on Software and Data Engineering
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• v.11 no.5
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• pp.221-228
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• 2022

With the application of artificial intelligence technology, robots can provide efficient services in real life. Unlike industrial manipulators that do simple repetitive work, this study presented design methods of 6 degree of freedom robot arm and intelligent object search and movement methods for use alone or in collaboration with no place restrictions in the service robot field and verified performance. Using a depth camera and deep learning in the ROS environment of the embedded board included in the robot arm, the robot arm detects objects and moves to the object area through inverse kinematics analysis. In addition, when contacting an object, it was possible to accurately hold and move the object through the analysis of the force sensor value. To verify the performance of the manufactured robot arm, experiments were conducted on accurate positioning of objects through deep learning and image processing, motor control, and object separation, and finally robot arm was tested to separate various cups commonly used in cafes to check whether they actually operate.

• Journal of Forest and Environmental Science
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• v.38 no.4
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• pp.239-248
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• 2022

Forestry crane work in a forest harvester or forwarder is regarded as one of most hard work requiring a very high level of operation skill. The operator must handle two or more multi-axes joysticks simultaneously to control the multiple manipulators for maneuvering the crane-tip to its intended location. This study has been carried out to develop a crane-tip controller which can intuitively maneuver the crane-tip, resulting in improving the productivity by decreasing the technical difficulty of control as well as reducing the workload. The crane-tip controller consists of a single 2-axis joystick and a control algorithm run on microcontroller. Lab-scale forestry crane was constructed using electric cylinders. The crane-tip control algorithm has the crane-tip follow the waypoints generated on the given path considering the dead band region using LBO (Lateral Boundary Offset). A speed control gain to change the speed of relevant cylinders relatively is applied as well. By the P (Proportional) control within the control interval of 20 msec, the average error of crane-tip control on the predefined straight path turned out to be 14.5 mm in all directions. When the joystick is used the waypoints are generated in real time by the direction signal from the joystick. In this case, the average error of path control was 12.4 mm for straight up, straight forward and straight down movements successively at a certain constant speed setting. In the slant movement of crane-tip by controlling two axes of joystick simultaneously, the movement of crane-tip was controlled in the average error of 15.9 mm when the crane-tip is moved up and down while moving toward forward direction. It concluded that the crane-tip control was possible using the control algorithm developed in this study.

• Journal of the Korean Vacuum Society
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• v.10 no.2
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• pp.145-154
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• 2001

A new type of modular mirror manipulator with independent adjustability was developed for the EPU6 beamline under construction at the Pohang Accelerator Laboratory. The mirror manipulator was designed so that the angular displacements of roll and pitch rotations do not introduce translational displacements and are independent with each other by positioning the mirror center to the center of a newly devised spherical joint. Manipulating its roll and pitch micrometers, the rotation angles of a dummy mirror were measured at an accuracy of 5 $\mu$rad using a gravity-referenced inclinometer. While the designed angular resolution was 3.937 $\mu$rad/$\mu\textrm{m}$, measured angular resolutions were 3.94 $\mu$rad/$\mu\textrm{m}$ for roll rotation and 3.85 $\mu$rad/$\mu\textrm{m}$ for pitch rotation. The effect of roll rotation on pitch angles was measured to be -3.18% and the effect of pitch rotation on roll angles was measured to be -5.21%. As the mirror manipulator was designed with emphases on independent adjustability and standardization, it results in eases of manufacturing, installation and adjustment as well as reductions of development period and design cost of mirror manipulators for various types of mirrors.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.10
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• pp.1109-1116
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• 2014

The wheelchair mechanism for a car that is proposed in this study primarily consists of a transfer mechanism and storage mechanism. The wheelchair transfer mechanism consists of a manipulator installed in the roof of a car, and performs the function of transferring the wheelchair from the driver's seat to the trunk. The wheelchair storage mechanism consists of a lifting hoist installed in the trunk of car, and performs the function of storing the transferred wheelchair in the trunk and safely fastening it in place. This study analyzed and reviewed various manipulators, including a vertical type, Scara type, and telescopic type, with the goal of selecting the best type of manipulator for the wheelchair transfer mechanism. The telescopic type was selected and applied because of its good load support and storage capabilities. In addition, with regard to the wheelchair storage mechanism, a slide hoist type that used a slide rail and lift wire and a rotating link hoist type that used a rotating mechanism consisting of a worm gear and link were analyzed and reviewed. The slide hoist type was selected and applied because it had an advantage in relation to trunk space utilization. This study proposed a wheelchair transfer mechanism for a car to support a conventional wheelchair user's movements, and in order to conform to the structure of a domestic welfare car for the disabled.

• Journal of Bio-Environment Control
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• v.23 no.2
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• pp.123-130
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• 2014

Oriental melon (Cucumis melo var. makuwa) should be cultivated on the soil and be harvested. It is difficult to find because it is covered with leaves, and furthermore, it is very hard to grip it due to its climbing stems. This study developed and tested oriental melon harvesting robots such as an end-effector, manipulator and identification device. The end effector is divided into a gripper for harvest and a cutter for stems. In addition, it was designed to control the gripping and cutting forces so that the gripper could move four fingers at the same time and the cutter could move back and forth. The manipulator was designed to realize a 4-axis manipulator structure to combine orthogonal coordinate-type and shuttle-type manipulators with L-R type model to rotate based on the central axis. With regard to the identification device, oriental melon was identified using the primary identification global view camera device and secondary identification local view camera device and selected in the prediction of the sugar content or maturity. As a result of the performance test using this device, the average harvest time was 18.2 sec/ea, average pick-up rate was 91.4%, average damage rate was 8.2% and average sorting rate was 72.6%.

• Asian-Australasian Journal of Animal Sciences
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• v.17 no.1
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• pp.73-79
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• 2004

The objective of the present study was to determine whether ${\beta}$1-4 galacto-oligosaccharides (GOS) and Candida kefyr combined with nitrate as manipulators could suppress rumen methanogenesis without nitrate poisoning in sheep. Four rumen fistulated wethers were allocated to a $4{\times}4$ Latin square design. Nitrate (1.3 g $NaNO_3$ $Kg^{-0.75}$body weight) with and without GOS and Candida kefyr were administered into the rumen through fistula as a single dose 30 min after the morning meal. GOS and Candida kefyr were supplemented by sprinkling onto the feed and through rumen fistula, respectively. The four treatments consisted of saline, nitrate, nitrate plus GOS and nitrate plus GOS plus Candida kefyr. Physiological saline was used as the control treatment. Compared to saline treatment, the administration of nitrate alone resulted in a very marked decrease in rumen methanogenesis and an increase in rumen and plasma nitrite production and blood methaemoglobin formation consequently causing a decline in oxygen consumption, carbon dioxide production and metabolic rate. When compared to nitrate alone, the simultaneous administration of nitrate with GOS decreased nitrite accumulation in rumen and plasma and nitrate-induced methaemoglobin, while retaining low methane production. However, GOS could not fully restore metabolic parameters reduced by nitrate. When compared to the simultaneous administration of nitrate with GOS, the simultaneous administration of nitrate with GOS plus Candida kefyr lowered rumen methanogenesis to a negligible level, but did not decrease rumen and plasma nitrite accumulation as well as blood methaemoglobin formation. Thus, these results suggest that combination of nitrate with GOS may be a potent manipulator to suppress rumen methanogenesis with abating the hazards of nitratenitrite toxicity in ruminants.